Anna Belardinelli — accepted AI-conference papers

2026

MERGE: Guided Vision-Language Models for Multi-Actor Event Reasoning and Grounding in Human–Robot Interaction

Joerg Deigmoeller, Nakul Agarwal, Stephan Hasler, Daniel Tanneberg, Anna Belardinelli, Reza Ghoddoosian +5

ICRA 2026poster

We introduce MERGE, a system for situational grounding of actors, objects, and events in dynamic human–robot group interactions. Effective collaboration in such settings requires consistent situational awareness, built on persistent representations of people and objects and an episodic abstraction o…

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2024

CoPAL: Corrective Planning of Robot Actions with Large Language Models

Frank Joublin, Antonello Ceravola, Pavel Smirnov, Felix Ocker, Joerg Deigmoeller, Anna Belardinelli +4

ICRA 2024poster

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes to the field of Large Language Models (LLMs) applied to task…

Cited by 51 Source ↗Scholar ↗

2024

To Help or Not to Help: LLM-based Attentive Support for Human-Robot Group Interactions

Daniel Tanneberg, Felix Ocker, Stephan Hasler, Joerg Deigmoeller, Anna Belardinelli, Chao Wang +3

IROS 2024poster

How can a robot provide unobtrusive physical support within a group of humans? We present Attentive Support, a novel interaction concept for robots to support a group of humans. It combines scene perception, dialogue acquisition, situation understanding, and behavior generation with the common-sense…

Cited by 16 Source ↗Scholar ↗

2022

Intention estimation from gaze and motion features for human-robot shared-control object manipulation

Anna Belardinelli, Anirudh Reddy Kondapally, Dirk Ruiken, Daniel Tanneberg, Tomoki Watabe

IROS 2022poster

Shared control can help in teleoperated object manipulation by assisting with the execution of the user's intention. To this end, robust and prompt intention estimation is needed, which relies on behavioral observations. Here, an intention estimation framework is presented, which uses natural gaze a…

Cited by 19 Source ↗Scholar ↗